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Use backwards compatible manual_control_setpoint instead of manual_control_input

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Matthias Grob
2021-11-03 11:33:05 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/manual_control/MovingDiffTest.cpp
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "MovingDiff.hpp"
#include <gtest/gtest.h>
TEST(MovingDiffTest, RcInputContinuous)
{
MovingDiff _diff;
EXPECT_FLOAT_EQ(_diff.update(0.0f, 0.0f), 0.f); // 0,0,0
EXPECT_FLOAT_EQ(_diff.update(1.0f, 1.0f), 0.f); // 1*,0,0
EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 1,-1*,0
EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 0,-1,0*
EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 0*,-1,0
EXPECT_FLOAT_EQ(_diff.update(1.0f, 1.0f), 0.f); // 0,1*,0
EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 0,1,-1*
EXPECT_FLOAT_EQ(_diff.update(2.0f, 1.0f), 1.f); // 2*,1,-1
EXPECT_FLOAT_EQ(_diff.update(4.0f, 1.0f), 2.f); // 2,2*,-1
}